* [perception] add CNNSegmentation method

* [perception] clean up 'caffe.BUILD' and modify 'cnnseg/BUILD'

* add road boundary for perception

* fix unit test error

* [perception] add CNNSegmentation method (#81)

* add unit test for lidar_process, and fix merge conflict

* fix merge conflict

* remove the comment of hdmap

* modify hdmap interface, and add unit test for hdmap_input

* Populate trajectory points directly in planner.

* fix a bug in prediction module

* add velodyne driver

* [perception] add CNNSegmentation method

* [perception] clean up 'caffe.BUILD' and modify 'cnnseg/BUILD'

optimizers.

skip epsilon_proximity check for the first point s diff can be larger than epsilon_proximity and causes no planning output. (#79)

"reference line" has been moved to data_center in the following PR:
https://github.com/ApolloAuto/apollo_dev/pull/61/files

So we don't need to make this change any more. Just get reference line from
current_frame and populate into trajectory debug info.

This reverts commit 36eaa61e.